Efficient preliminary floating offshore wind turbine design and testing methodologies and application to a concrete spar design

The current key challenge in the floating offshore wind turbine industry and research is on designing economic floating systems that can compete with fixed-bottom offshore turbines in terms of levelized cost of energy. The preliminary platform design, as well as early experimental design assessments, are critical elements in the overall design process. In this contribution, a brief review of current floating offshore wind turbine platform pre-design and scaled testing methodologies is provided, with a focus on their ability to accommodate the coupled dynamic behaviour of floating offshore wind systems. The exemplary design and testing methodology for a monolithic concrete spar platform as performed within the European KIC AFOSP project is presented. Results from the experimental tests compared to numerical simulations are presented and analysed and show very good agreement for relevant basic dynamic platform properties. Extreme and fatigue loads and cost analysis of the AFOSP system confirm the viability of the presented design process. In summary, the exemplary application of the reduced design and testing methodology for AFOSP confirms that it represents a viable procedure during pre-design of floating offshore wind turbine platforms.Peer ReviewedPostprint (author’s final draft

Trajectory generation of space telerobots

The purpose is to review a variety of trajectory generation techniques which may be applied to space telerobots and to identify problems which need to be addressed in future telerobot motion control systems. As a starting point for the development of motion generation systems for space telerobots, the operation and limitations of traditional path-oriented trajectory generation approaches are discussed. This discussion leads to a description of more advanced techniques which have been demonstrated in research laboratories, and their potential applicability to space telerobots. Examples of this work include systems that incorporate sensory-interactive motion capability and optimal motion planning. Additional considerations which need to be addressed for motion control of a space telerobot are described, such as redundancy resolution and the description and generation of constrained and multi-armed cooperative motions. A task decomposition module for a hierarchical telerobot control system which will serve as a testbed for trajectory generation approaches which address these issues is also discussed briefly

Sheet metal forming optimization methodology for servo press process control improvement

In sheet metal forming manufacturing operations the use of servo presses is gaining more interest due to the opportunity to improve process performance (quality, productivity, cost reduction, etc.). It is not yet clear how to proceed in the engineering process when this type of operating machine is used to achieve the maximum possible potential of this technology. Recently, several press builders have developed gap‐ and straight‐sided metal forming presses adopting the mechanical servo‐drive technology. The mechanical servo‐drive press offers the flexibility of a hydraulic press with the speed, accuracy and reliability of a mechanical press. Servo drive presses give the opportunity to improve the productivity of process conditions and improve the quality of stamped parts. Forming simulation and numerical optimization can be useful tools to define beforehand the optimal process parameter set‐up in terms of servo press downward curve properties. This is done by carrying out a sensitivity analysis of the forming parameters having influence on said curve. The authors have developed a numerical methodology able to analyze the influence factors, for comparison with the degrees of freedom made available by the usage of a servo press, in terms of stroke profile management, to obtain an optimized process parameters combination

Markerless visual servoing on unknown objects for humanoid robot platforms

To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects, which is divided in four main parts: I) a least-squares minimization problem is formulated to find the volume of the object graspable by the robot's hand using its stereo vision; II) a recursive Bayesian filtering technique, based on Sequential Monte Carlo (SMC) filtering, estimates the 6D pose (position and orientation) of the robot's end-effector without the use of markers; III) a nonlinear constrained optimization problem is formulated to compute the desired graspable pose about the object; IV) an image-based visual servo control commands the robot's end-effector toward the desired pose. We demonstrate effectiveness and robustness of our approach with extensive experiments on the iCub humanoid robot platform, achieving real-time computation, smooth trajectories and sub-pixel precisions

Evolution of central pattern generators for the control of a five-link bipedal walking mechanism

Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with accurate physics. We apply this technique to a five-link planar walking mechanism to demonstrate its feasibility and performance. In addition, to see whether results from simulation can be acceptably transferred to real robot hardware, the best evolved CPG network is also tested on a real mechanism. Our results also confirm that the biologically inspired CPG model is well suited for legged locomotion, since a diverse manifestation of networks have been observed to succeed in fitness simulations during evolution.Comment: 11 pages, 9 figures; substantial revision of content, organization, and quantitative result

Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview

Disturbance Observer has been one of the most widely used robust control tools since it was proposed in 1983. This paper introduces the origins of Disturbance Observer and presents a survey of the major results on Disturbance Observer-based robust control in the last thirty-five years. Furthermore, it explains the analysis and synthesis techniques of Disturbance Observer-based robust control for linear and nonlinear systems by using a unified framework. In the last section, this paper presents concluding remarks on Disturbance Observer-based robust control and its engineering applications.Comment: 12 pages, 4 figure

A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the di_erent types of pipes that exists, a modular approach with di_erent types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a _eld in which there are not many prototypes. The robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototypes testing